version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 318
start: 2 8 117 10 19 54
data:
$ID,628
$MISSION,3
$DIVE,318
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,320
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,50
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-125968.38
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2800
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,080217,100100,2252.057,12355.890,34,1.1,34,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-65.6
$GPS2,080217,101930,2252.162,12355.718,6,1.0,6,-3.7
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,184.0,152343,-15.8,-10.104,-18.78,2952
$D_GRID,6221
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-194.6,80,2174,740,742,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,16386,0.000,0.000,80,2175,3228,3233,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.78,-194.6,80,2175,3232,3223,3.2,-7.1,11,123,8.73,2.45,-9.43,0.000,18948,0.458,0.077,2538,748,3783,3742,3825,0,0,0,0,0,0,14.24,14.68,14.92
$GC,249,-0.78,-194.6,2538,748,3741,3825,33.7,-17.4,39,257,0.05,2.28,0.00,0.000,3078,0.296,0.045,2549,2110,3783,3741,3825,0,0,0,0,0,0,14.34,14.62,28.83
$GC,503,-0.78,-194.6,1536,2108,3737,3824,81.7,-19.3,88,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2110,3783,3741,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,755,-0.78,-194.6,1536,2109,3737,3824,129.7,-18.9,137,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2110,3782,3740,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-0.78,-194.6,1552,2108,3737,3824,174.1,-15.5,186,1017,0.00,2.47,0.00,0.000,260,0.000,0.060,2539,3560,3782,3739,3825,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1049,-0.78,-194.6,1552,3558,3736,3825,180.8,-16.4,193,1058,0.00,2.33,0.00,0.000,3078,0.000,0.031,2539,2142,3782,3740,3825,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1305,-0.78,-194.6,1536,2140,3736,3824,223.5,-16.0,242,1312,0.00,2.42,0.00,0.000,2308,0.000,0.060,2529,3560,3782,3740,3825,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1360,-0.78,-194.6,1536,3559,3736,3825,232.1,-15.5,252,1368,0.03,2.30,0.00,0.000,3078,0.351,0.031,2541,2151,3782,3740,3825,0,0,0,0,0,0,14.43,14.69,28.83
$GC,1612,-0.78,-194.6,2541,2151,3740,3826,268.4,-14.9,289,1623,0.00,2.28,0.00,0.000,2564,0.000,0.051,2541,754,3782,3740,3825,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1647,-0.78,-194.6,2541,754,3740,3825,273.5,-15.1,295,1657,0.00,2.22,0.00,0.000,3078,0.000,0.038,2533,2171,3782,3740,3825,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1896,-0.78,-194.6,2533,2171,3740,3825,309.9,-14.5,321,1900,0.00,2.28,0.00,0.000,2564,0.000,0.051,2533,753,3782,3740,3825,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1960,-0.78,-194.6,2533,753,3739,3825,319.8,-14.5,334,1967,0.10,2.25,0.00,0.000,3078,0.340,0.039,2550,2160,3782,3739,3826,0,0,0,0,0,0,14.47,14.82,28.83
$GC,2208,-0.78,-194.6,2550,2160,3739,3825,351.2,-12.2,359,2216,0.00,2.30,0.00,0.000,260,0.000,0.060,2541,3549,3782,3739,3825,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2261,-0.78,-194.6,1648,3549,3735,3825,357.9,-11.7,370,2269,0.00,2.28,0.00,0.000,3078,0.000,0.031,2541,2125,3781,3738,3825,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2510,-0.78,-194.6,2541,2124,3738,3825,388.6,-12.9,395,2511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2124,3781,3737,3825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2749,-0.78,-194.6,2541,2124,3736,3825,419.0,-12.6,419,2758,0.00,2.25,0.00,0.000,2564,0.000,0.053,2541,754,3780,3735,3826,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2780,-0.78,-194.6,2541,754,3735,3825,422.9,-12.6,425,2790,0.05,2.22,0.00,0.000,3078,0.436,0.039,2545,2156,3780,3735,3825,0,0,0,0,0,0,14.55,14.85,28.83
$GC,3031,-0.78,-194.6,2545,2157,3733,3825,451.2,-11.2,451,3035,0.00,2.30,0.00,0.000,2308,0.000,0.061,2536,3547,3779,3733,3825,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3092,-0.78,-194.6,2536,3547,3732,3826,458.3,-11.7,463,3101,0.00,2.22,0.00,0.000,3078,0.000,0.032,2536,2146,3778,3731,3825,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3343,-0.78,-194.6,2536,2146,3731,3825,490.5,-13.8,489,3352,0.00,2.25,0.00,0.000,2564,0.000,0.053,2536,765,3777,3730,3825,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3395,-0.78,-194.6,2536,765,3730,3825,497.6,-13.2,499,3405,0.08,2.20,0.00,0.000,3078,0.368,0.040,2546,2152,3777,3730,3825,0,0,0,0,0,0,14.51,14.84,28.83
$GC,3644,-0.78,-194.6,2546,2152,3727,3825,529.3,-12.7,525,3653,0.00,2.35,0.00,0.000,2308,0.000,0.063,2537,3549,3775,3726,3825,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3688,-0.78,-194.6,2536,3551,3727,3825,534.8,-11.4,534,3695,0.00,2.25,0.00,0.000,3078,0.000,0.032,2537,2148,3775,3726,3825,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3938,-0.78,-194.6,2537,2146,3725,3823,562.2,-10.9,559,3946,0.00,2.28,0.00,0.000,2564,0.000,0.056,2537,759,3774,3725,3823,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3969,-0.78,-194.6,2537,759,3725,3823,565.8,-11.0,565,3973,0.08,2.22,0.00,0.000,3078,0.363,0.041,2547,2149,3774,3725,3823,0,0,0,0,0,0,14.50,14.83,28.83
$GC,4220,-0.78,-194.6,2546,2149,3724,3822,591.2,-9.8,591,4229,0.00,2.35,0.00,0.000,2308,0.000,0.063,2537,3545,3773,3724,3822,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4282,-0.78,-194.6,2538,3545,3723,3822,597.0,-9.6,603,4286,0.00,2.25,0.00,0.000,3078,0.000,0.034,2537,2143,3772,3723,3822,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4533,-0.78,-194.6,2537,2143,3722,3821,622.6,-10.4,618,4539,0.00,2.30,0.00,0.000,2564,0.000,0.056,2537,757,3771,3722,3820,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4566,-0.78,-194.6,2537,757,3722,3821,626.4,-10.9,625,4575,0.08,2.25,0.00,0.000,3078,0.358,0.041,2546,2148,3770,3722,3819,0,0,0,0,0,0,14.50,14.82,28.83
$GC,4814,-0.78,-194.6,2547,2148,3720,3818,649.4,-9.0,638,4815,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2148,3769,3720,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5054,-0.78,-194.6,2546,2149,3718,3816,672.2,-10.1,650,5060,0.00,2.38,0.00,0.000,2308,0.000,0.066,2537,3546,3766,3718,3815,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5146,-0.78,-194.6,2538,3546,3715,3815,682.3,-10.4,669,5153,0.00,2.28,0.00,0.000,3078,0.000,0.034,2537,2152,3765,3716,3815,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5393,-0.78,-194.6,2537,2152,3716,3814,709.7,-11.3,682,5399,0.00,2.33,0.00,0.000,2564,0.000,0.058,2538,757,3764,3716,3813,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5441,-0.78,-194.6,2538,757,3715,3813,715.3,-10.9,692,5446,0.08,2.25,0.00,0.000,3078,0.353,0.043,2547,2146,3764,3716,3813,0,0,0,0,0,0,14.47,14.80,28.83
$GC,5688,-0.78,-194.6,2546,2147,3713,3812,738.3,-9.0,705,5690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2147,3762,3713,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5928,-0.78,-194.6,2546,2147,3711,3810,758.5,-8.3,717,5930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2147,3760,3711,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6168,-0.78,-194.6,2546,2147,3710,3808,780.0,-9.2,729,6174,0.00,2.40,0.00,0.000,2308,0.000,0.067,2537,3549,3759,3710,3808,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6233,-0.78,-194.6,2537,3550,3708,3808,786.2,-9.5,742,6237,0.00,2.28,0.00,0.000,3078,0.000,0.037,2537,2153,3758,3709,3808,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6484,-0.78,-194.6,2538,2152,3707,3806,811.1,-9.7,756,6490,0.00,2.35,0.00,0.000,2564,0.000,0.059,2537,754,3756,3707,3806,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6524,-0.78,-194.6,2537,753,3707,3806,815.2,-10.2,764,6531,0.08,2.28,0.00,0.000,3078,0.351,0.044,2547,2153,3756,3707,3806,0,0,0,0,0,0,14.44,14.76,28.83
$GC,6784,-0.78,-194.6,2547,2153,3705,3805,838.0,-8.6,780,6790,0.00,2.38,0.00,0.000,2308,0.000,0.069,2538,3548,3755,3705,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6864,-0.78,-194.6,2538,3548,3704,3804,845.1,-8.9,796,6870,0.00,2.30,0.00,0.000,3078,0.000,0.037,2537,2141,3754,3704,3804,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7124,-0.78,-194.6,2538,2140,3703,3802,868.6,-9.0,812,7128,0.00,2.45,0.00,0.000,2308,0.000,0.067,2528,3554,3752,3703,3802,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7165,-0.78,-194.6,2529,3554,3702,3802,872.4,-9.3,820,7170,0.08,2.33,0.00,0.000,3078,0.330,0.037,2547,2141,3752,3703,3802,0,0,0,0,0,0,14.45,14.78,28.83
$GC,7427,-0.78,-194.6,2548,2140,3702,3800,894.5,-8.7,836,7434,0.00,2.45,0.00,0.000,260,0.000,0.069,2538,3554,3751,3701,3801,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7451,-0.78,-194.6,2538,3554,3701,3801,896.8,-9.3,841,7455,0.00,2.30,0.00,0.000,3078,0.000,0.038,2538,2152,3750,3701,3800,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7703,-0.78,-194.6,2538,2151,3700,3799,921.6,-10.1,855,7709,0.00,2.38,0.00,0.000,2564,0.000,0.061,2538,751,3749,3700,3799,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7766,-0.78,-194.6,2538,751,3699,3799,928.3,-10.4,868,7771,0.08,2.30,0.00,0.000,3078,0.363,0.046,2548,2156,3749,3700,3799,0,0,0,0,0,0,14.38,14.71,28.83
$GC,8018,-0.78,-194.6,2548,2156,3699,3797,951.4,-9.2,882,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2156,3747,3698,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8236,begin apogee
$GC,8241,-0.17,0.0,2548,1924,3697,3796,971.0,-8.8,893,8529,0.55,0.00,284.42,1.541,10246,0.226,0.000,2742,1924,2987,3025,2950,0,0,0,0,0,0,14.35,28.83,13.51
$STATE,8530,end apogee,CONTROL_FINISHED_OK
$STATE,8530,begin climb
$GC,8532,0.78,194.6,2742,1924,3018,2943,983.5,0.0,907,8758,0.80,2.47,211.65,1.772,10756,0.135,0.074,3067,581,2178,2207,2150,0,0,0,0,0,0,14.14,14.04,13.33
$GC,8783,0.78,194.6,3067,580,2197,2143,962.8,15.2,960,8788,0.05,2.33,0.00,0.000,5126,0.428,0.045,3055,1942,2169,2197,2142,0,0,0,0,0,0,14.03,14.24,28.83
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$STATE,17311,end climb,SURFACE_DEPTH_REACHED
$STATE,17311,begin surface coast
$FINISH,0.5,1.023596
$STATE,17333,end surface coast,CONTROL_FINISHED_OK
$STATE,17333,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,39.84
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,22.80
$XPDR_PINGS,2
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$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,328652
$DATA_FILE_SIZE,150648,2028
$CAP_FILE_SIZE,215546,0
$CFSIZE,2097086464,2041446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.131,320.4,1
$GPS,080217,151200,2250.697,12354.752,37,0.8,37,-3.7